\begin{table}[h]
\centering
\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|}
\hline
veličina&CO$1$&CO$2$&CO$3$&CO$4$&CO$5$&CO$6$&CO$7$&CO$8$&CO$9$&CO$10$\\
\hline
\multicolumn{11}{|c|}{sledované výstupy (RMSE)}\\
\hline
$\varphi$&$5.250e-04$&$5.250e-04$&$5.250e-04$&$1.882e-03$&$1.881e-03$&$1.881e-03$&$1.884e-03$&$4.373e-03$&$4.381e-03$&$4.374e-03$\\
\hline
$\dot{\varphi}$
&$1.590e-03$&$1.590e-03$&$1.590e-03$&$3.771e-03$&$3.771e-03$&$3.771e-03$&$3.894e-03$&$7.317e-03$&$7.323e-03$&$7.319e-03$\\
\hline
$Y$&$2.414e-03$
&$2.414e-03$
&$2.414e-03$
&$1.111e-02$
&$1.111e-02$
&$1.112e-02$
&$1.146e-02$
&$2.591e-02$
&$2.584e-02$
&$2.591e-02$
\\
\hline
\multicolumn{
11
}{|c|}{actuator activity (RMSE)}\\
\hline
$\delta f$&$1.002e-03$&$1.002e-03$&$1.002e-03$&$1.288e-03$&$1.288e-03$&$1.288e-03$&$1.346e-03$&$1.549e-03$&$1.552e-03$&$1.549e-03$\\
\hline
$s_{fl}$&$4.586e-06$&$4.586e-06$&$4.586e-06$&$4.996e-06$&$4.995e-06$&$4.996e-06$&$5.130e-06$&$6.740e-06$&$6.745e-06$&$6.742e-06$\\
\hline
$s_{fr}$&$4.379e-06$
&$4.379e-06$
&$4.379e-06$
&$4.439e-06$
&$4.439e-06$
&$4.439e-06$
&$4.560e-06$
&$5.320e-06$
&$5.308e-06$
&$5.315e-06$
\\
\hline
\multicolumn{
11
}{|c|}{Ostatní veličiny}\\
\hline
velikost QP problému&$24$&$24$&$30$&$16$&$16$&$19$&$12$&$12$&$12$&$14$\\
\hline
RMSE porušení $(rad/s)$
&$0$&$0$&$0$&$2.554e-03$&$2.843e-03$&$3.019e-03$&$3.269e-02$&$1.657e-03$&$2.358e-03$&$1.655e-03$\\
\hline
\end{tabular}
\caption{Výsledky kombinace blokování vstupu a redukce měkkých omezení.}
\label{tab:table_combine2}
\end{table}
